56 citations · 57 across the 4 of their papers we have counts for
4 papers
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems
Francesco Romano, Silvio Traversaro, Daniele Pucci +3
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law…
Partial Force Control of Constrained Floating-Base Robots
Andrea Del Prete, Nicolas Mansard, Francesco Nori +2
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motio…
Prioritized Optimal Control
Andrea Del Prete, Francesco Romano, Lorenzo Natale +3
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a wides…
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"
Andrea Del Prete, Francesco Nori, Giorgio Metta +1
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the…